Cooperative Control of Multi-Agent Systems (eBook)

Yue Wang, PhD is the Warren H. Owen - Duke Energy Assistant Professor of Engineering in the Department of Mechanical Engineering, Clemson University, USA. Her research interests include cooperative control and decision-making for multi-agent systems and human-robot interaction. Eloy Garcia is a scientist with InfoSciTex Corp and the Control Science Center of Excellence, USAF Research Laboratory, USA. David Casbeer is a research engineer with the Aerospace Systems Directorate, USAF Research Laboratory, USA. Fumin Zhang, PhD is Associate Professor at the School of Electrical and Computer Engineering, Georgia Institute of Technology, USA.

List of Contributors xiii

Preface xvii

Acknowledgment xix

1 Introduction 1
YueWang, Eloy Garcia, David Casbeer and Fumin Zhang

1.1 Introduction 1

1.2 Chapter Summary and Contributions 11

2 Sensor Placement Algorithms for a Path Covering Problem 31
Sivakumar Rathinam and Rajnikant Sharma

2.1 Problem Statement 34

2.2 Algorithm Approx1 35

2.3 Algorithm Approx2 42

2.4 Numerical Results 46

2.5 Conclusions 48

3 Robust Coordination of Small UAVs for Vision-Based Target Tracking Using Output-Feedback MPC with MHE 51
Steven A. P. Quintero, David A. Copp, and João P. Hespanha

3.1 Vision-Based Target Tracking 53

3.2 Problem Formulation 58

3.3 Robust Output-Feedback MPC/MHE 64

3.4 Simulation Results 67

3.5 Conclusion and FutureWork 79

4 Projection-Based Consensus for Time-Critical Coordination of Unmanned Aerial Vehicles under Velocity Constraints 85
XiaofengWang, Eloy Garcia, Zheqing Zhou, Derek Kingston and David Casbeer

4.1 Introduction 85

4.2 Problem Statement 87

4.3 Projection-Based Consensus Algorithm 89

4.4 Convergence Analysis 91

4.5 Convergence Time 96

4.6 Feasibility 101

4.7 Simulation 104

4.8 Summary 110

5 GreedyMaximization for Asset-Based Weapon-Target Assignment with Time-Dependent Rewards 115
Doo-Hyun Cho and Han-Lim Choi

5.1 Introduction 115

5.2 Problem Formulation 117

5.3 Properties of the Objective Function 120

5.4 Algorithmic Details 126

5.5 Numerical Case Studies 128

6 Coordinated Threat Assignments and Mission Management of Unmanned Aerial Vehicles 141
Eloy Garcia and David Casbeer

6.1 Introduction 141

6.2 Problem Statement 144

6.3 Decentralized Assignment of Threats 148

6.4 Assignment Constraints 153

6.5 Multiple Main Targets 163

6.6 Conclusions 172

7 Event-Triggered Communication and Control for Multi-Agent Average Consensus 177
Cameron Nowzari, Jorge Cortes and George J. Pappas

7.1 Introduction 177

7.2 Preliminaries 181

7.3 Problem Statement 185

7.4 Centralized Event-Triggered Control 186

7.5 Decentralized Event-Triggered Control 188

7.6 Decentralized Event-Triggered Communication and Control 192

7.7 Periodic Event-Triggered Coordination 199

7.8 Conclusions and Future Outlook 201

8 Topology Design and Identification for Dynamic Networks 209
Chuangchuang Sun and Ran Dai

8.1 Introduction 209

8.2 Network Topology Design Problems 212

8.3 Network Topology Identification Problems 216

8.4 Iterative Rank Minimization Approach 221

8.5 Simulation Examples 224

8.6 Conclusions 231

9 Distributed Multi-Agent Coordination with Uncertain Interactions: A Probabilistic Perspective 237
Yongcan Cao, David Casbeer, Eloy Garcia and Corey Schumacher

9.1 Introduction 237

9.2 Preliminaries 239

9.3 Fixed Interaction Graph 241

9.4 Switching Interaction Graph 253

10 Awareness Coverage Control in Unknown Environments Using Heterogeneous Multi-Robot Systems 265
YueWang and LiWang

10.1 Introduction 265

10.2 Problem Formulation 268

10.3 Cooperative Control of Heterogeneous Multi-Robot Systems 275

10.4 Simulation Results 284

Index 291